////////////////////////////////////////////////////////////////////////////////
//
// Copyright (c) 2020 NovAtel Inc.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
//
////////////////////////////////////////////////////////////////////////////////

#ifndef __ROS_MESSAGES_HPP__
#define __ROS_MESSAGES_HPP__

#include <ros/ros.h>


namespace novatel_oem7_driver
{

  uint32_t GetNextMsgSequenceNumber();

  template <typename T>
  void
  SetROSHeader(
      const std::string& frame_id,
      boost::shared_ptr<T>& msg)
  {
    msg->header.frame_id = frame_id;
    msg->header.stamp    = ros::Time::now();
    msg->header.seq      = GetNextMsgSequenceNumber();
  }
}
#endif
